Re-worked TMTC modules

satrs-example/src/tmtc/ccsds.rs

@@ -1,53 +0,0 @@
-use satrs::pus::ReceivesEcssPusTc;
-use satrs::spacepackets::{CcsdsPacket, SpHeader};
-use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
-use satrs::ValidatorU16Id;
-use satrs_example::config::components::Apid;
-use satrs_example::config::APID_VALIDATOR;
-
-#[derive(Clone)]
-pub struct CcsdsReceiver<
-    TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
-    E,
-> {
-    pub tc_source: TcSource,
-}
-
-impl<
-        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
-        E: 'static,
-    > ValidatorU16Id for CcsdsReceiver<TcSource, E>
-{
-    fn validate(&self, apid: u16) -> bool {
-        APID_VALIDATOR.contains(&apid)
-    }
-}
-
-impl<
-        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
-        E: 'static,
-    > CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
-{
-    type Error = E;
-
-    fn handle_packet_with_valid_apid(
-        &mut self,
-        sp_header: &SpHeader,
-        tc_raw: &[u8],
-    ) -> Result<(), Self::Error> {
-        if sp_header.apid() == Apid::Cfdp as u16 {
-        } else {
-            return self.tc_source.pass_ccsds(sp_header, tc_raw);
-        }
-        Ok(())
-    }
-
-    fn handle_packet_with_unknown_apid(
-        &mut self,
-        sp_header: &SpHeader,
-        _tc_raw: &[u8],
-    ) -> Result<(), Self::Error> {
-        log::warn!("unknown APID 0x{:x?} detected", sp_header.apid());
-        Ok(())
-    }
-}

satrs-example/src/tmtc/mod.rs

@@ -1,215 +1,2 @@
-use log::warn;
-use satrs::pus::{
-    EcssTcAndToken, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, ReceivesEcssPusTc,
-};
-use satrs::spacepackets::SpHeader;
-use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
-use thiserror::Error;
-
-use crate::pus::PusReceiver;
-use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
-use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::PusPacket;
-use satrs::tmtc::ReceivesCcsdsTc;
-
-pub mod ccsds;
-pub mod tm_funnel;
-
-#[derive(Debug, Clone, PartialEq, Eq, Error)]
-pub enum MpscStoreAndSendError {
-    #[error("Store error: {0}")]
-    Store(#[from] StoreError),
-    #[error("TC send error: {0}")]
-    TcSend(#[from] SendError<EcssTcAndToken>),
-    #[error("TMTC send error: {0}")]
-    TmTcSend(#[from] SendError<StoreAddr>),
-}
-
-#[derive(Clone)]
-pub struct SharedTcPool {
-    pub pool: SharedStaticMemoryPool,
-}
-
-impl SharedTcPool {
-    pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
-        let mut pg = self.pool.write().expect("error locking TC store");
-        let addr = pg.free_element(pus_tc.len_packed(), |buf| {
-            buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
-        })?;
-        Ok(addr)
-    }
-}
-
-#[derive(Clone)]
-pub struct PusTcSourceProviderSharedPool {
-    pub tc_source: SyncSender<StoreAddr>,
-    pub shared_pool: SharedTcPool,
-}
-
-impl PusTcSourceProviderSharedPool {
-    #[allow(dead_code)]
-    pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
-        self.shared_pool.pool.clone()
-    }
-}
-
-impl ReceivesEcssPusTc for PusTcSourceProviderSharedPool {
-    type Error = MpscStoreAndSendError;
-
-    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        let addr = self.shared_pool.add_pus_tc(pus_tc)?;
-        self.tc_source.send(addr)?;
-        Ok(())
-    }
-}
-
-impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
-    type Error = MpscStoreAndSendError;
-
-    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        let mut pool = self.shared_pool.pool.write().expect("locking pool failed");
-        let addr = pool.add(tc_raw)?;
-        drop(pool);
-        self.tc_source.send(addr)?;
-        Ok(())
-    }
-}
-
-// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
-#[derive(Clone)]
-pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
-
-impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
-    type Error = SendError<Vec<u8>>;
-
-    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        self.0.send(pus_tc.raw_data().to_vec())?;
-        Ok(())
-    }
-}
-
-impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
-    type Error = mpsc::SendError<Vec<u8>>;
-
-    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        self.0.send(tc_raw.to_vec())?;
-        Ok(())
-    }
-}
-
-// TC source components where static pools are the backing memory of the received telecommands.
-pub struct TcSourceTaskStatic {
-    shared_tc_pool: SharedTcPool,
-    tc_receiver: Receiver<StoreAddr>,
-    tc_buf: [u8; 4096],
-    pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
-}
-
-impl TcSourceTaskStatic {
-    pub fn new(
-        shared_tc_pool: SharedTcPool,
-        tc_receiver: Receiver<StoreAddr>,
-        pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
-    ) -> Self {
-        Self {
-            shared_tc_pool,
-            tc_receiver,
-            tc_buf: [0; 4096],
-            pus_receiver,
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        self.poll_tc();
-    }
-
-    pub fn poll_tc(&mut self) -> bool {
-        match self.tc_receiver.try_recv() {
-            Ok(addr) => {
-                let pool = self
-                    .shared_tc_pool
-                    .pool
-                    .read()
-                    .expect("locking tc pool failed");
-                pool.read(&addr, &mut self.tc_buf)
-                    .expect("reading pool failed");
-                drop(pool);
-                match PusTcReader::new(&self.tc_buf) {
-                    Ok((pus_tc, _)) => {
-                        self.pus_receiver
-                            .handle_tc_packet(
-                                satrs::pus::TcInMemory::StoreAddr(addr),
-                                pus_tc.service(),
-                                &pus_tc,
-                            )
-                            .ok();
-                        true
-                    }
-                    Err(e) => {
-                        warn!("error creating PUS TC from raw data: {e}");
-                        warn!("raw data: {:x?}", self.tc_buf);
-                        true
-                    }
-                }
-            }
-            Err(e) => match e {
-                TryRecvError::Empty => false,
-                TryRecvError::Disconnected => {
-                    warn!("tmtc thread: sender disconnected");
-                    false
-                }
-            },
-        }
-    }
-}
-
-// TC source components where the heap is the backing memory of the received telecommands.
-pub struct TcSourceTaskDynamic {
-    pub tc_receiver: Receiver<Vec<u8>>,
-    pus_receiver: PusReceiver<MpscTmAsVecSender>,
-}
-
-impl TcSourceTaskDynamic {
-    pub fn new(
-        tc_receiver: Receiver<Vec<u8>>,
-        pus_receiver: PusReceiver<MpscTmAsVecSender>,
-    ) -> Self {
-        Self {
-            tc_receiver,
-            pus_receiver,
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        self.poll_tc();
-    }
-
-    pub fn poll_tc(&mut self) -> bool {
-        match self.tc_receiver.try_recv() {
-            Ok(tc) => match PusTcReader::new(&tc) {
-                Ok((pus_tc, _)) => {
-                    self.pus_receiver
-                        .handle_tc_packet(
-                            satrs::pus::TcInMemory::Vec(tc.clone()),
-                            pus_tc.service(),
-                            &pus_tc,
-                        )
-                        .ok();
-                    true
-                }
-                Err(e) => {
-                    warn!("error creating PUS TC from raw data: {e}");
-                    warn!("raw data: {:x?}", tc);
-                    true
-                }
-            },
-            Err(e) => match e {
-                TryRecvError::Empty => false,
-                TryRecvError::Disconnected => {
-                    warn!("tmtc thread: sender disconnected");
-                    false
-                }
-            },
-        }
-    }
-}
+pub mod tc_source;
+pub mod tm_sink;

satrs-example/src/tmtc/tc_source.rs

@@ -0,0 +1,106 @@
+use satrs::{
+    pool::PoolProvider,
+    tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
+};
+use std::sync::mpsc::{self, TryRecvError};
+
+use satrs::pus::MpscTmAsVecSender;
+
+use crate::pus::{HandlingStatus, PusTcDistributor};
+
+// TC source components where static pools are the backing memory of the received telecommands.
+pub struct TcSourceTaskStatic {
+    shared_tc_pool: SharedPacketPool,
+    tc_receiver: mpsc::Receiver<PacketInPool>,
+    tc_buf: [u8; 4096],
+    pus_distributor: PusTcDistributor<PacketSenderWithSharedPool>,
+}
+
+impl TcSourceTaskStatic {
+    pub fn new(
+        shared_tc_pool: SharedPacketPool,
+        tc_receiver: mpsc::Receiver<PacketInPool>,
+        pus_receiver: PusTcDistributor<PacketSenderWithSharedPool>,
+    ) -> Self {
+        Self {
+            shared_tc_pool,
+            tc_receiver,
+            tc_buf: [0; 4096],
+            pus_distributor: pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> HandlingStatus {
+        // Right now, we only expect ECSS PUS packets.
+        // If packets like CFDP are expected, we might have to check the APID first.
+        match self.tc_receiver.try_recv() {
+            Ok(packet_in_pool) => {
+                let pool = self
+                    .shared_tc_pool
+                    .0
+                    .read()
+                    .expect("locking tc pool failed");
+                pool.read(&packet_in_pool.store_addr, &mut self.tc_buf)
+                    .expect("reading pool failed");
+                drop(pool);
+                self.pus_distributor
+                    .handle_tc_packet_in_store(packet_in_pool, &self.tc_buf)
+                    .ok();
+                HandlingStatus::HandledOne
+            }
+            Err(e) => match e {
+                TryRecvError::Empty => HandlingStatus::Empty,
+                TryRecvError::Disconnected => {
+                    log::warn!("tmtc thread: sender disconnected");
+                    HandlingStatus::Empty
+                }
+            },
+        }
+    }
+}
+
+// TC source components where the heap is the backing memory of the received telecommands.
+pub struct TcSourceTaskDynamic {
+    pub tc_receiver: mpsc::Receiver<PacketAsVec>,
+    pus_distributor: PusTcDistributor<MpscTmAsVecSender>,
+}
+
+impl TcSourceTaskDynamic {
+    pub fn new(
+        tc_receiver: mpsc::Receiver<PacketAsVec>,
+        pus_receiver: PusTcDistributor<MpscTmAsVecSender>,
+    ) -> Self {
+        Self {
+            tc_receiver,
+            pus_distributor: pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> HandlingStatus {
+        // Right now, we only expect ECSS PUS packets.
+        // If packets like CFDP are expected, we might have to check the APID first.
+        match self.tc_receiver.try_recv() {
+            Ok(packet_as_vec) => {
+                self.pus_distributor
+                    .handle_tc_packet_vec(packet_as_vec)
+                    .ok();
+                HandlingStatus::HandledOne
+            }
+            Err(e) => match e {
+                TryRecvError::Empty => HandlingStatus::Empty,
+                TryRecvError::Disconnected => {
+                    log::warn!("tmtc thread: sender disconnected");
+                    HandlingStatus::Empty
+                }
+            },
+        }
+    }
+}

satrs-example/src/tmtc/tm_sink.rs

@@ -4,7 +4,7 @@ use std::{
 };
 
 use log::info;
-use satrs::pus::{PusTmAsVec, PusTmInPool};
+use satrs::tmtc::{PacketAsVec, PacketInPool, SharedPacketPool};
 use satrs::{
     pool::PoolProvider,
     seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
@@ -13,7 +13,6 @@ use satrs::{
         time::cds::MIN_CDS_FIELD_LEN,
         CcsdsPacket,
     },
-    tmtc::tm_helper::SharedTmPool,
 };
 
 use crate::interface::tcp::SyncTcpTmSource;
@@ -77,17 +76,17 @@ impl TmFunnelCommon {
 
 pub struct TmFunnelStatic {
     common: TmFunnelCommon,
-    shared_tm_store: SharedTmPool,
-    tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
-    tm_server_tx: mpsc::SyncSender<PusTmInPool>,
+    shared_tm_store: SharedPacketPool,
+    tm_funnel_rx: mpsc::Receiver<PacketInPool>,
+    tm_server_tx: mpsc::SyncSender<PacketInPool>,
 }
 
 impl TmFunnelStatic {
     pub fn new(
-        shared_tm_store: SharedTmPool,
+        shared_tm_store: SharedPacketPool,
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
-        tm_server_tx: mpsc::SyncSender<PusTmInPool>,
+        tm_funnel_rx: mpsc::Receiver<PacketInPool>,
+        tm_server_tx: mpsc::SyncSender<PacketInPool>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -101,7 +100,7 @@ impl TmFunnelStatic {
         if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
             // Read the TM, set sequence counter and message counter, and finally update
             // the CRC.
-            let shared_pool = self.shared_tm_store.clone_backing_pool();
+            let shared_pool = self.shared_tm_store.0.clone();
             let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
             let mut tm_copy = Vec::new();
             pool_guard
@@ -124,15 +123,15 @@ impl TmFunnelStatic {
 
 pub struct TmFunnelDynamic {
     common: TmFunnelCommon,
-    tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-    tm_server_tx: mpsc::Sender<PusTmAsVec>,
+    tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
+    tm_server_tx: mpsc::Sender<PacketAsVec>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-        tm_server_tx: mpsc::Sender<PusTmAsVec>,
+        tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
+        tm_server_tx: mpsc::Sender<PacketAsVec>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),